Self-moving robot movement boundary determining method

Abstract

In a self-moving robot movement boundary delimiting method, in step 100: setting up three or more base stations in a movement area of a self-moving robot, and establishing a coordinate system; in step 200: artificially planning a movement path in the movement area of the self-moving robot, gathering sample points on the path, and determining the coordinates of the sample points in the coordinate system; and in step 300: delimiting a boundary according to the coordinates of the gathered sample points, and setting the self-moving robot to work inside or outside the boundary. The present invention achieves a regional division by distance measurement and positioning based on stationary base stations, thus improving accuracy and convenience compared to the prior art.

What is claimed is: 
     
         1 . A self-moving robot movement boundary determining method, comprising:
 obtaining positions of sample points obtained along a desired boundary of a self-moving robot by moving a positioning device coupling with the self-moving robot along the desired boundary; and   determining a movement boundary according to the positions of the sample points, wherein the self-moving robot is set to work inside or outside the movement boundary.   
     
     
         2 . The method according to  claim 1 , wherein the positioning device coupling with the self-moving robot is moved along the desired boundary by:
 controlling the self-moving robot with the positioning device mounted thereon to move along the desired boundary by a user via an interactive device.   
     
     
         3 . The method according to  claim 1 , wherein the positioning device coupling with the self-moving robot is moved along the desired boundary by:
 moving the self-moving robot with the positioning device mounted thereon to move along the desired boundary while the self-moving robot is held by a user.   
     
     
         4 . The method according to  claim 1 , wherein the positioning device coupling with the self-moving robot is moved along the desired boundary by:
 moving the positioning device detached from the self-moving robot along the desired boundary.   
     
     
         5 . The method according to  claim 1 , wherein the obtaining the positions of the sample points comprises:
 obtaining the positions of the sample points according to a position of a base station, wherein the base station is in communication with the positioning device coupling with the self-moving robot, and a position of the base station is known.   
     
     
         6 . The method according to  claim 5 , wherein the obtaining the positions of the sample points according to a position of a base station comprises:
 setting up at least three base stations in a movement area of the self-moving robot, to establish a coordinate system according to relative locations between the at least three base stations; and   determining coordinates of the sample points in the coordinate system to obtain the positions of sample points.   
     
     
         7 . The method according to  claim 6 , wherein the determining the coordinates of the sample points in the coordinate system comprises:
 calculating the coordinates of the sample points in the coordinate system by measuring signal transmission time between the positioning device coupling with the self-moving robot and the respective base stations, according to Geometric Positioning method, Least Squares method or Time Difference Of Arrival method.   
     
     
         8 . The method according to  claim 6 , wherein the coordinate system is established by using one of the at least three base stations as an origin, and calculating distances between the respective base stations by measuring signal transmission time between the respective base stations, whereby determining the coordinates of the respective base stations in the coordinate system. 
     
     
         9 . The method according to  claim 6 , wherein the coordinate system is a plane coordinate system established using three base stations, and a plane in which the plane coordinate system is located is coplanar with the movement area of the self-moving robot. 
     
     
         10 . The method according to  claim 6 , wherein the coordinate system is a three-dimensional coordinate system established using four base stations. 
     
     
         11 . The method according to  claim 10 , wherein the determining a movement boundary according to the positions of the sample points comprises:
 vertically or non-vertically projecting the sample points onto a plane, in which the movement area of the self-moving robot is located, to form mapped points, and the boundary is formed by connecting the mapped points.   
     
     
         12 . The method according to  claim 10 , wherein the movement boundary is a surface of a three-dimensional space constructed using the sample points by interpolating or fitting the sample points into a standard three-dimensional shape or a combination of standard three-dimensional shapes. 
     
     
         13 . The method according to  claim 12 , wherein the standard three-dimensional shape is cube, cuboid, sphere or triangular pyramid. 
     
     
         14 . The method according to  claim 1 , wherein the sample points are obtained at a preset time interval performed automatically by the self-moving robot or obtained at a random interval controlled by a user. 
     
     
         15 . The method according to  claim 1 , wherein the movement boundary is an open or closed line formed by the sample points. 
     
     
         16 . A self-moving robot movement boundary determining method, comprising:
 obtaining positions of sample points obtained along a desired boundary of a self-moving robot by moving the self-moving robot along the desired boundary; and   determining a movement boundary according to the positions of the sample points, wherein the self-moving robot is set to work inside or outside the movement boundary.   
     
     
         17 . The method according to  claim 16 , wherein the obtaining the positions of the sample points comprises:
 obtaining the positions of the sample points according to a position of a base station, wherein the base station is in communication with the self-moving robot, and a position of the base station is known.   
     
     
         18 . The method according to  claim 17 , wherein the obtaining the positions of the sample points according to a position of a base station comprises:
 setting up at least three base stations in a movement area of the self-moving robot, to establish a coordinate system according to relative locations between the at least three base stations; and   determining coordinates of the sample points in the coordinate system to obtain the positions of sample points.